Package frclib.subsystem

Class FrcDifferentialServoWrist

java.lang.Object

frclib.subsystem.FrcDifferentialServoWrist

public class FrcDifferentialServoWrist
extends Object

This class implements a platform dependent Differential Servo Wrist Subsystem. A Differential Servo Wrist consists of two servos controlling two degrees of freedom. The wrist can tilt as well as rotate. When the two servos turn in the same direction on the mounted axis, the wrist tilts up and down. When the two servos turn in opposite directions, the wrist rotates.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FrcDifferentialServoWrist.Params	This class contains all the parameters of the Differential Servo Wrist.

Constructor Summary

Constructors

Constructor	Description
FrcDifferentialServoWrist(String instanceName, FrcDifferentialServoWrist.Params params)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcDifferentialServoWrist	getWrist()	This method returns the created differential servo wrist.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

FrcDifferentialServoWrist

public FrcDifferentialServoWrist(String instanceName,
 FrcDifferentialServoWrist.Params params)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

params - specifies the servo wrist parameters.

Method Details

getWrist

public TrcDifferentialServoWrist getWrist()

This method returns the created differential servo wrist.

Returns:

differential servo wrist.